%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SLAM Summer School 2006, Oxford.% Practical 3. SLAM using Monocular Vision.% Practical exercise.% J.M.M. Montiel, Javier Civera, Andrew J. Davison.% {josemari, jcivera}@unizar.es, ajd@doc.ic.ac.uk%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%function J_distor = jacob_distor_fm( camera, uvd )%% Jacobian of the distortion of the image coordinates%  presented in%  Real-Time 3D SLAM with Wide-Angle Vision, %      Andrew J. Davison, Yolanda Gonzalez Cid and Nobuyuki Kita, IAV 2004.% input%    camera   -  camera calibration parameters%    uv       -  distorted image points in pixels% output%    J_distor -  distorted coordinate points%% J.M.M Montiel% August 2005J_distor = inv( jacob_undistor_fm( camera, uvd ) );